plot::Rootlocus

Curves of roots of rational expressions

Use only in the MuPAD Notebook Interface.

This functionality does not run in MATLAB.

Syntax

plot::Rootlocus(p(z, u), u = umin .. umax, <a = amin .. amax>, options)

Description

plot::Rootlocus(p(z, u), u = umin.. umax) creates a 2D plot of the curves in the complex plane given by the roots of p(z, u) = 0 (solved for z) as the parameter u varies between umin and umax.

For any given value of u, plot::Rootlocus solves the equation p(z, u) = 0 for z. The solutions define points with coordinates x = (z), y = (z) in the complex plane. As the parameter u varies, the solutions form continuous curves that a depicted by plot::Rootlocus.

The roots of the numerator of p(z, u) are considered. All complex solutions of this polynomial in z are computed numerically via numeric::polyroots.

The polynomial is initially solved for some values u from the range u = `u_{min}` .. `u_{max}`. The optional argument Mesh = n can be used to specify the number n of these initial points (the default value is 51). These points are not equally spaced, but accumulate close to the end of the range.

The routine then tries to pair up the roots for adjacent values of u by choosing those closest to each other.

Finally, the routine tries to trace out the different curves by joining up adjacent points with line segments. If adjacent line segments exhibit angles that are not close to 180 degrees, additional roots are computed for parameter values u between the values of the initial mesh. Up to m such bisectioning steps are possible, where m is specified by the optional argument AdaptiveMesh = m (the default value is 4). With AdaptiveMesh = 0, this adaptive mechanism may be switched off.

Sometimes, the matching up of the roots to continuous curves can be fooled and the result is a messy plot. In such a case, the user can take the following measures to improve the plot:

  • The parameter range u = `u_{min}` .. `u_{max}` may be unreasonably large. Reduce this range to a reasonable size!

  • Increase the size n of the initial mesh using the option Mesh = n. Note that increasing n by some factor may increase the runtime of the plot by the same factor!

  • Increase the number m of possible adaptive bisectioning steps using the option AdaptiveMesh = m. Note that increasing m by 1 may increase the runtime of the plot by a factor of 2!

  • Using the options LinesVisible = FALSE in conjunction with PointsVisible = TRUE, the roots are displayed as separate points without joining line segments.

Cf. Example 2.

Animations are triggered by specifying a range a = `a_{min}` .. `a_{max}` for a parameter a that is different from the variables z and u. Cf. Example 3.

The curves can be colored by a user defined color scheme. Just pass the option LineColorFunction = mycolor, where mycolor is a user definied procedure that returns an RGB color value. The routine plot::Rootlocus calls mycolor(u, x, y), where u is the parameter value and x, y are the real and imaginary parts of the root of p(x + i y, u) = 0. Cf. Example 4.

Attributes

AttributePurposeDefault Value
AdaptiveMeshadaptive sampling4
AffectViewingBoxinfluence of objects on the ViewingBox of a sceneTRUE
AntiAliasedantialiased lines and points?TRUE
Framesthe number of frames in an animation50
Legendmakes a legend entry 
LegendTextshort explanatory text for legend 
LegendEntryadd this object to the legend?FALSE
LineColorcolor of linesRGB::Blue
LineWidthwidth of lines0.35
LineStylesolid, dashed or dotted lines?Solid
LinesVisiblevisibility of linesTRUE
LineColorTypeline coloring typesFlat
LineColorFunctionfunctional line coloring 
Meshnumber of sample points51
Namethe name of a plot object (for browser and legend) 
ParameterEndend value of the animation parameter 
ParameterNamename of the animation parameter 
ParameterBegininitial value of the animation parameter 
ParameterRangerange of the animation parameter 
PointSizethe size of points1.0
PointStylethe presentation style of pointsFilledCircles
PointsVisiblevisibility of mesh pointsFALSE
RationalExpressionrational expression in a rootlocus plot 
TimeEndend time of the animation10.0
TimeBeginstart time of the animation0.0
TimeRangethe real time span of an animation0.0 .. 10.0
Titleobject title 
TitleFontfont of object titles[" sans-serif ", 11]
TitlePositionposition of object titles 
TitleAlignmenthorizontal alignment of titles w.r.t. their coordinatesCenter
TitlePositionXposition of object titles, x component 
TitlePositionYposition of object titles, y component 
UMaxfinal value of parameter "u" 
UMeshnumber of sample points for parameter "u"51
UMininitial value of parameter "u" 
UNamename of parameter "u" 
URangerange of parameter "u" 
VisiblevisibilityTRUE
VisibleAfterobject visible after this time value 
VisibleBeforeobject visible until this time value 
VisibleFromToobject visible during this time range 
VisibleAfterEndobject visible after its animation time ended?TRUE
VisibleBeforeBeginobject visible before its animation time starts?TRUE

Examples

Example 1

The roots of the polynomial z2 - 2 uz + 1 are given by and . We visualise these two curves via a rootlocus plot:

plot(plot::Rootlocus(z^2 - 2*u*z + 1, u = -1.5..1.5))

For rational expressions, the roots of the numerator are considered. The following plot displays the roots of the numerator polynomial (z2 - u)2 + u (z - u)3:

plot(plot::Rootlocus(1 + u * (z - u)^3/(z^2 - u)^2, u = -1..1)):

Here are various other examples:

plot(plot::Rootlocus((z^2 - 2*u*z + 1)^2 + u, u = -1..1))

plot(plot::Rootlocus((z^2 - u)^6 + u^2, u = -2..2,
                                 Color = RGB::Red))

plot(plot::Rootlocus((z^5  - 1)^3 + u, u = -1..1, PointsVisible,
                                                  PointSize = 1.5))

Example 2

The following plot is rather messy, since the default mesh size of 51 initial points on each curve is not sufficient to obtain a good resolution:

plot(plot::Rootlocus((z-u)^3 - u/z^3, u = -10^3 .. 10^3)):

We obtain a better resolution by decreasing the range of the parameter u to a reasonable size. There are still a few points that are not properly matched up with the curves:

plot(plot::Rootlocus((z-u)^3 - u/z^3, u = -10 .. 10)):

We increase the mesh size to cure this problem:

plot(plot::Rootlocus((z-u)^3 - u/z^3, u = -10 .. 10, Mesh = 251)):

We plot the roots as separate points without displaying connecting line segments:

plot(plot::Rootlocus((z-u)^3 - u/z^3, u = -10 .. 10, Mesh = 501,
                     LinesVisible = FALSE, PointsVisible)):

Example 3

We animate the expression whose roots are to plotted:

plot(plot::Rootlocus(z^2 - 2*u*z + a, u = -1..1, a = -0.2 .. 2, Mesh = 10),
     plot::Text2d(a -> "a = ".stringlib::formatf(a, 2, 5), [1.2, 1.0], a = -0.2 .. 1));

We animate the parameter range:

plot(plot::Rootlocus(z^2 - 2*u*z + 0.81, u = -1 .. a, a = -1 .. 1, Mesh = 10))

Example 4

We provide a color function: roots for small values of the parameter u are displayed in red, whereas roots for large parameter values are displayed in blue:

plot(plot::Rootlocus(z^2 - 2*u*z + 0.81, u = -1..1,
                     LineColorFunction = ((u, x, y) -> [(1 - u)/2, 0, (1 + u)/2])))

Parameters

p(z, u)

An arithmetical expression in two unknowns z and u and, possibly, the animation parameter a. It must be a rational expression in z.

p(z, u) is equivalent to the attribute RationalExpression.

z

Name of the unknown: an identifier or an indexed identifier.

u

Name of the curve parameter: an identifier or an indexed identifier.

u is equivalent to the attribute UName.

umin .. umax

The range of the curve parameter: umin, umax must be numerical real values or expressions of the animation parameter a.

umin .. umax is equivalent to the attributes URange, UMin, UMax.

a

Animation parameter, specified as a = amin..amax, where amin is the initial parameter value, and amax is the final parameter value.

See Also

MuPAD Functions

MuPAD Graphical Primitives

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